MC-Basic:axis.DRIVECONTROL
This read-only property allows the user to read the control word being sent to the drive. The control word is transmitted in every SERCOS communication cycle, and is composed of 16 bits.
Short form
<axis>.DCon
Syntax
?<axis>.DriveControl
Availability
All versions
Type
Long
Range
Bit 15-13
1 1 1
Drive should follow command values
Bit 15 (MSB)
Drive ON/OFF
Drive OFF: When switching from 1 to 0: drive is decelerated as best as possible, followed by disabling of the torque at n min. The power stage can remain in an activated state (only possible when bit 14=1).
1
DriveON
Bit 14
Enable Drive
Not enabled: When switching from 1 to 0, torque is immediately disabled and the power stage pulses are blocked (independent of bits 15 and 13).
1
Enable Drive
Bit 13
Halt/Restart Drive (may be used to stop the drive regardless of the presently active control unit function)
Halt Drive: When changing from 1 –> 0, drive is halted according to the acceleration parameter (IDN 00137 or 00138) and the control loop remains closed (only possible when bits 15 and 14 are set to 1).
1
Restart Drive: When changing from 0 –> 1, original function is continued maintaining the acceleration parameter.
Bits 12, 11
Reserved
Bit 10
Control unit synchronization bit: This bit is initially set to 0. It is becomes valid in CP3 and shall remain valid during drive-controlled functions. This bit is toggled with the control unit cycle time (t Ncyc) indicating the update of the command value. (Example: Used to synchronize the interpolation in the control unit with the fine interpolator in the drive.)
Bits 9, 8
Operation mode
0 0
Primary operation mode (defined by operation data IDN 00032)
0 1
Secondary operation mode-1 (defined by operation data IDN 00033)
1 0
Secondary operation mode-2 (defined by operation data IDN 00034)
1 1
Secondary operation mode-3 (defined by operation data IDN 00035)
Bit 7
Real-time control bit 2 (IDN 00302)
Bit 6
Real-time control bit 1 (IDN 00300)
Bits 5, 4, 3
Data Block Element
0 0 0
Service channel not active, close service channel or break a transmission in progress
0 0 1
IDN of the operation data. The service channel is closed for the previous IDN and opened for a new IDN.
0 1 0
Name of operation data
0 1 1
Attribute of operation data
1 0 0
Units
of the operation data
1 0 1
Minimum input value
1 1 0
Maximum input value
1 1 1
Operation data
Bit 2
Transmission in progress
1
Last transmission
Bit 1
Read/Write
Read service info
1
Write service info
Bit 0
MHS
0/1
Service transport handshake of the Master
Scope
Configuration, Task or Terminal
Limitations
Read only. Executed only in SERCOS communication phase 4.
Examples
?a1.dcon
if (a1.dcon and 2^14) Then.‘Check whether the drive enable is requested